Polynomial Regression Aided Identification Method for a Class of Mechanical Systems

0433945 - ÚTIA 2015 RIV IT eng C - Konferenční příspěvek (zahraniční konf.)
Dolinský, Kamil - Čelikovský, Sergej
Polynomial Regression Aided Identification Method for a Class of Mechanical Systems.
Proceedings of the 2014 22nd Mediterranean Conference on Control and Automation (MED). Palermo: IEEE, 2014, s. 924-929. ISBN 978-1-4799-5899-3.
[The 2014 22nd Mediterranean Conference on Control and Automation (MED). Palermo (IT), 16.06.2014-19.06.2014]
Grant CEP: GA ČR(CZ) GAP103/12/1794
Institucionální podpora: RVO:67985556
Klíčová slova: Identification * Walking robots * Regression
Kód oboru RIV: BC - Teorie a systémy řízení

Abstract—In this article we present a novel approach to identification of a class of mechanical systems that can be written in a form of Euler-Lagrage equations. This identification procedure is based on a polynomial regression that is employed for data smoothing and estimation. Procedure requires only the measurements of torques or forces that are used to control the system and measurements of angles or other co-ordinates that are used to specify the location of the system. This identification algorithm is demonstrated on the problem of identification of three link bipedal robot and the results indicate that the procedure is effective and over-performs classical approaches used to solve the problem.
Trvalý link: http://hdl.handle.net/11104/0238108